The Method of Optimal Geometric Parameters Synthesis of Two Mechanisms in the Rehabilitation System on Account of Relative Position

Malyshev, Dmitry; Rybak, Larisa; Mohan, Santhakumar; Diveev, Askhat; Cherkasov, V. V.; Pisarenko, Anton

doi:10.1007/978-3-030-92711-0_16

Cited by 1 publication

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“…The numerical simulations showed that the augmented PD controller enables us to obtain a reliable control strategy. In the works [22,23], a method for optimizing the geometric parameters of a robotic system based on one Tripteron module for the rehabilitation of one limb is discussed. Nevertheless, it has a number of limitations for the case of application to the proposed two-module system, which include as follows:…”

Section: Introductionmentioning

confidence: 99%

Optimal Design of Lower Limb Rehabilitation System Based on Parallel and Serial Mechanisms

Malyshev,

Perevuznik,

Ceccarelli

2024

Machines

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This paper presents the structure and model of a hybrid modular structure of a robotic system for lower limb rehabilitation. It is made of two modules identical in structure, including an active 3-PRRR manipulator for moving the patient’s foot and a passive orthosis based on the RRR mechanism for supporting the lower limb. A mathematical model has been developed to describe the positions for the links of the active and passive mechanisms of two modules, as a function of the angles in the joints of the passive orthosis, considering constraints for attaching the active manipulators to the moving platform and their configurations. A method has been formulated for a parametric synthesis of the hybrid robotic system proposed with modular structure, taking into account the generated levels of parametric constraints depending on the ergonomic and manufacturability features. The proposed design is based on a criterion in the form of a convolution, including two components, one of which is based on minimizing unattainable points of the trajectory, considering the characteristics of anthropometric data, and the other is based on the compactness of the design. The results of the mathematical modeling are discussed as well as the analysis results towards a prototype validation.

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Section: Introductionmentioning

confidence: 99%